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The paper deals with the model-based compensation of friction in velocity and position controlled servomechanisms. A class of single degree of freedom mechanical systems with friction nonlinearity acting at the plant input is considered. Two approaches to friction compensation using dynamic model-based feedforward control and disturbance observer based feedback control are studied and compared to...
The paper deals with analysis of fundamental performance limitations of elastic servo drives with significant mechanical compliance in the driven load. Two-mass system is chosen as a general representation of a flexible mechanism with oscillatory dynamics. A problem of PID compensator tuning is considered since this control algorithm is still prevalent in industrial motion control systems. The provided...
The paper deals with a systematic observer design for a robust frequency identification of electromechanical systems. The observer estimates the frequency response of the system which is excited by a swept harmonic signal with a variable frequency, amplitude and DC component. The paper presents a computationally efficient algorithm based on the recursive discretization of a Kalman filter. An application...
This paper deals with a problem of feedback compensator design for motion control loops equipped with industrial Ethernet communication protocols. The main goal of the paper is to choose proper control structures for a supervisory control system which have to deal with the time delay caused by the communication channel and compare the results with a standard cascade control scheme which is implemented...
The paper deals with robotic manipulator for automated testing of shifting system which was developed for automotive industry. Procedure of modelling and control design for hybrid force/position motion control as well as construction of the test stand and experimental results are presented. The proposed control structure with minimum set of feature-based parameters allows rapid online tuning in case...
In this paper, a 3D virtual laboratory presenting all features of advanced input shaping filter is described. By proper choice of filter coefficients, various design requirements can be achieved (damping at given frequencies, bandwidth, robustness to uncertainties, etc.). Hence, one can handle the trade-off between the filter performance and signal delay which is added to the loop. The filter principle...
The paper deals with identification of electromechanical systems with oscillatory dynamics. Swept sine signal is chosen for excitation of the system and time-varying observer is used for estimation of its frequency response. Practical implementation issues for various mechanical configurations typical for industrial applications are analyzed and concept of frequency-separated semi-closed loop identification...
The paper deals with newly developed industrial robotic manipulator with special serio-parallel architecture which was designed for operation in chemically aggressive environment. Dynamical analysis of the manipulator is performed for the purpose of control law synthesis. General method for derivation of static models is presented.
The paper describes the 3-dimensional trajectory planning editor which supports the consequent real-time generation of the robot effector path using motion control technology (PLCopen standard). The presented 3D editor is powered by modern open technologies and enables users to simply view, edit and simulate the final trajectory. Moreover, the role of the editor in the whole robot control chain is...
The paper deals with kineto-static analysis of the AGgressive Environment roBOT (AGEBOT). Serio-parallel kinematic architecture of AGEBOT plays important role in aggressive environment applications such as manipulation in industrial degreasing and paint removing lines in the presence of high pressure and temperature, acid or lye. Standard 4DoF serial manipulator with PRRR joints is equipped with special...
This paper deals with research and design of industrial robotic manipulator which is suitable for operation in aggressive environment (high pressure/temperature, acid or lye). The main field of application is a task of operation and manipulation in industrial degreasing and paint removing lines. For this purpose a special three DoF parallel spherical wrist was constructed. This allows a placement...
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